mr-j2s-s061 - specifications and instruction manual bcn-b11127-479 (01.02)
DESCRIPTION
herkulesTRANSCRIPT
-
BCN-B11127-479*
Section Mgr.Section Mgr.Section Mgr.Section Mgr. Design Eng.Design Eng.Design Eng.Design Eng.
APPROVALS:APPROVALS:APPROVALS:APPROVALS: H.OgiH.OgiH.OgiH.Ogi
MITSUBISHI General Purpose AC Servo
MELSERVO-J2S-S061 Built-In Positioning Function Specifications and Instruction Manual
For Engineering Sample
MITSUBISHI ELECTRIC
-
1 BCN-B11127-479*
Table of Contents
1. FUNCTION AND CONFIGURATION 2
1.1 Overview 2 1.2 Features 3 1.3 System configuration 3 2. WIRING DIAGRAM 5
3. TERMINALS 7
3.1Terminal blocks 7 3.2 Connection example 8 3.3 Power-on sequence 8 3.4 Signal explanations 12 3.5 Additional function devices 14 4. INTERFACES 16 5. AUTOMATIC OPERATION MODE 18 5.1 Positioning via point table with digital input 18 5.2 Positioning operation in accordance with point tables 22 5.3 Positioning operation via communication 23 5.4 Manual operation mode 24 5.5 Zeroing 26 6. DISPLAY AND OPERATION 27 6.1 Display flowchart 27 7. PARAMETERS 28 8. COMMUNICATIONS 47
8.1Configuration 47 8.2 Communication specifications 49 8.3 Protocol 50 8.4 Character codes 52 8.5 Error codes 53 8.6 Checksum 53 8.7 Time-out operation 54 8.8 Retry operation 54 8.9 Initialization 55 8.10 Communication procedure example 55 8.11 Command and data No. list 56 8.12 Detailed explanation of commands 66 REVISIONS 85
-
2 BCN-B11127-479*
1. FUNCTIONS AND CONFIGURATION
1.1 Overview
The MR-J2S- A-S061 AC servo amplifier with built-in positioning functions is the MR-J2S-A general-purpose AC servo amplifier which incorporate single-axis positioning functions. These functions perform positioning operation by merely setting the position data (target positions), motor speeds, acceleration and deceleration time constants, etc. to point tables as if setting them in parameters. The servo amplifier is the most appropriate to configure a program-free, simple positioning system or to simplify a system, for example. There are up to 31 points. You can choose a configuration suitable for your purpose, e.g. simple positioning system using external I/O signals (DI/O), operation using DI/O and RS-422 serial communication, or multi drop operation using RS-422 serial communication. All servo motors are equipped with an absolute position encoder as standard. An absolute position detection system can be configured by merely adding a battery to the servo amplifier. Once the home position has been set, zeroing is not required at power on, alarm occurrence, etc.
-
3 BCN-B11127-479*
1.2 Features
(1) Up to 31 point tables
(2) Stopper type zeroing operation
(3) Point table output function 1.3 System configuration
1) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.
Servo amplifier (axis 1)
External I/O signals
Power supply3-phase 200VAC or single-phase 230VAC
Servo motor
RS422
Set-up Software
Personal computer
CN1A CN1B
CN2 CN3
Servo amplifier (axis 2)
External I/O signals
Servo motor
CN1A CN1B
CN2 CN3
RS232C
RS232C/RS-422 converter(to be prepared by the customer)
To the next axis
RS422
Power supply3-phase 200VAC or single-phase 230VAC
Communication data PC to Servo amplifier Servo amplifier to PC
- Positioning data to point table
- Control signals
- Parameter data
- Status monitor
- Parameter data
- Alarm information and so on
-
4 BCN-B11127-479*
2) The following configuration uses external I/O signals. The external input signals are used to control all signals (devices) that response delay is less than 15msec.
3) Function list Contents Description
Operation specification - Positioning up to 31 point via point block #
Position command input - Setting at point block
- Setting range for positioning: +/- 1 [um] to +/- 999.999 [um]
Speed command input
- Setting at point block
- Set at the point block for acc. / dec. time
- Parameter # 14 is for S-Curve acc. / dec. time constant
Point block # input
System - Absolute value command with sign or incremental value command
Operation specification - Positioning via RS-422(232C) communication
Position command input - Setting via RS-422(232C) communication
- Setting range for positioning : +/- 1 [um] to +/- 999.999 [um]
Speed command input
- Setting via RS-422(232C) communication
- Set the acc. / dec. time via RS-422(232C) communication
- Parameter # 14 is for S-Curve acc. / dec. time constant
Com
man
d ty
pe
Position data input
System - Absolute value command with sign or incremental value command
Automatic mode
- Select the required ones from among 31 preset point blocks and
perform operation in accordance with the set value
(Position block # input, Position data input)
Manual mode JOG - Jogging operation among preset jog speed via RS-422(232C)
communication or external input
Ope
ratio
n m
ode
Manual zeroing Stopper type zeroing - Stopper type zeroing
Capable set the zero address at parameter setting
Function on positioning control
- Absolute position detection system
- Backlash compensation
- External stroke limit function
- Software stroke limit function
- Teaching function
- Roll feeding function (equivalent)
Servo amplifier
External I/Osignals
Power supply 3-phase 200VAC or single-phase230VAC
Servo motor
CN1A CN1B
CN2 CN3
-
5 BCN-B11127-479*
2. Wiring Diagram
Emergency stop
Proximity dog
Zeroing completion
Monitor output 1
RA2 RA3 RA4 RA5
Rough match In position Trouble Ready
External torque limit
16 15
17 7 5
14 8 9
10
SON
LSN LSP
MD0 DI0
DI1 ST1 ST2 SG
20 SG
2
11
1
12
P15R
LG
TLA
VC
Plate SD
CN1B
10 8 DOG
SG
CN1 A
18 ZP
4 13
6 18 19
CPO INP
ALM RD
COM 3 VDD 13
3
Plate LG SD
CN3
LG 4 MO1
14 MO2 A
A
C D P
B1
W (Black) V (White) U (Red)
(Green) Electromagnetic brake
Encoder
Encoder cable (Available as option or to be fabricated)
NFB MC
Regenerative brake option
L12 L11 L 3 L 2 L1
10 k
2m(78.74inch) max.
Upper limit setting
W V
U
Servo amplifier MR-J2S-A-S061
9RA 1
20 SG
Communication cable (Available as option or to be fabricated) CN3
TE1
TE2
When connecting the external regenerative brake option, always disconnectthe jumper from across P-D.
SM
COM CN 2
Servo motor
Servo on Forward rotation stroke end Reverse rotation stroke end Automatic/manual selection Point table No. selection 1Point table No. selection 2Forward rotation start Reverse rotation start
3-phase 200VAC
10m(39.37inch) max.
10m (39.37inch) max.
Upper limit setting
To be shut off when servo on signal switches off or alarm occurs.
Monitor output 2
B2
10 k
-
6 BCN-B11127-479*
Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.
3. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external.
5. When starting operation, always connect the forward/reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)
6. Trouble (ALM) is connected with COM in normal alarm-free condition. 7. The pins with the same signal name are connected in the servo amplifier.
-
7 BCN-B11127-479*
3. Terminals
3.1 Terminal blocks
Symbol Signal Description
Main circuit power input terminals 1) 200V Class
Supply L1, L2 and L3 with the following power. For a single-phase 230VAC power supply, connect the power supply to L1 and L2 and keep L3 open:
Servo amplifier
Power supply MR-J2-10A to 70A MR-J2-100A to 700A
3-phase 200 to 230VAC, 50/60Hz L1L2L3
Single-phase 230VAC, 50/60Hz L1L2
L1, L2, L3 Main circuit power supply
Cannot be used for combination with the servo motor HC-SFS5253. 2) 100V Class
Supply L1, L2 with the single-phase 100 to 120V 50/60Hz power.
U, V, W Servo motor output Servo motor power output terminalss Connect to the servo motor power supply terminals (U, V, W).
L11, L21 Control circuit power supply
Control circuit power input terminals 1) 200V Class
Supply L11 and L21 with single-phase 200-230VAC, 50/60Hz power. 2) 100V Class
Supply L11 and L21 with single-phase 100-120VAC, 50/60Hz power.
P, C, D Regenerative brake option
Regenerative brake option connection terminals C and D are factory-connected. When using the regenerative brake option, always remove wiring from across P-D and connect the regenerative brake option across P-C.
N Do not connect.
Protective earth (PE)
Ground terminal Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding.
-
8 BCN-B11127-479*
3.2 Connection example
Wire the power supply and main circuits as shown below. A no-fuse breaker (NFB) must be used with the input cables of the power supply. Design the circuit so that the servo on signal also turns off as soon as the power is shut off on detection of alarm occurrence.
MC
SKMC
ONOFFEmergency
stopRA
EMG
SON
SG
VDD
COM
(Note 1) Three-phase 200 to 230VAC or Single-Phase 230VAC
RA
Servo amplifier
L21
L11
L3
L2
L1
Trouble
MCNFB
Note : For a single-phase 230VAC power supply, connect the power supply to L1 and L2 and keep L3 open.
ALM
External emergency stopServo on
3.3 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L1, L2, L3, single-phase 230V: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on signal (SON) about 1 second after the main circuit power supply is switched on. Therefore, when SON is switched on simultaneously with the three-phase power supply, the base circuit will switch on in about 1 second, and the ready signal (RD) will switch on in further about 20ms, making the servo amplifier ready to operate.
4) When the reset signal (RES) is switched on, the base circuit is shut off and the servo motor shaft coasts.
-
9 BCN-B11127-479*
(2) Timing chart
20ms 20ms 20ms10ms 10ms
10ms10ms
10ms
60ms
60ms
SON accepted
(1s)
ONOFF
ONOFF
ONOFF
ONOFF
ONOFF
Power sypply
Base circuit
Servo on(SON)
Reset(RES)
Ready(RD)
-
10 BCN-B11127-479*
3.4 Signal explanations
1) CN1A Signal Name Symbol Pin No. Description I/O Division
Digital I/F power supply input
COM 9 Used to input 24VDC10% for input interface. Driver power input terminal for digital interface. COM of each connector is connected in the servo amplifier. When using an external power supply, connect a power supply of 24VDC, 200mA or more to this terminal.
Open collector power input
OPC 11 When using a manual pulse generator, supply 24VDC to this terminal.
Digital I/F common SG 10, 20 Common terminal for VDD and COM and isolated from LG. DC15V power supply P15R 4 Used to output 15VDC. Power supply terminal for VC and TLA. Control common LG 1 Common terminal for VC, TLA, MO1, MO2 and P15R.
When terminals DOG-SG are shorted, the proximity dog signal is detected. The polarity of dog detection input can be changed with the parameter.
Parameter No.8 Polarity of Proximity Dog Detection Input
0 DOG-SG are opened. 1 (initial value) DOG-SG are shorted.
Proximity dog DOG 8
DI-1
Zeroing completion ZP 18 ZP-SG are connected on completion of zeroing. In the absolute position system, ZP-SG are connected when the servo amplifier is ready to operate but are disconnected if: 1) SON-SG are opened; 2) EMG-SG are opened; 3) RES-SG are shorted; 4) Alarm occurs; 5) Limit switch opens; 6) Zeroing has not been made after the purchase of the product; 7) Zeroing has not been made after the occurrence of absolute position
erasure (A. 25) or absolute position counter warning (A. E3);
8) Zeroing has not been made after the changing of the electronic gear value;
9) Zeroing has not been made after the absolute position system was made valid; or
10) The ST1 coordinate system (000 in parameter No.1) has been changed.
DO-1
19 Empty DI-1 DO-1 Shield SD Plate Connect one end of the shielded cable.
-
11 BCN-B11127-479*
2) CN1B
Signal Name Symbol Pin No. Description I/O Division
I/F Internal power supply
VDD 3 Used to output 24V 10% to across VDD-COM. When using this power supply for digital interface, connect it with COM. Permissible current: 80mA
Digital I/F power supply input
COM 13 Used to input 24VDC 10% for input interface. Driver power input terminal for digital interface. COM of each connector is connected in the servo amplifier. When using an external power supply, connect a power supply of 24VDC, 200mA or more to this terminal.
DC15V power supply P15R 11 Used to output 15VDC to across P15R-LG. Used for VC/TLA power supply.
Digital I/F Common SG 10, 20 24VDC common terminal for VDD, COM, etc. and isolated from LG. Control common LG 1 Common terminal for VC, TLA, MO1, MO2 and P15R. Servo on SON 15 When SON-SG are shorted, the base circuit is switched on and the
servo amplifier is ready to operate. When they are opened, the base circuit is shut off and the servo motor coasts.
DI-1
Forward rotation stroke end
LSP 16 To start operation, short LSP-SG or LSN-SG. When they are opened, the servo motor is stopped suddenly and servo-locked.
DI-1
Operation Across
LSP-SG
Across
LSN-SG CCW direction CW direction
1 1 0 1 1 0
0 0
Reverse rotation stroke end
LSN 17
Note. 0:Open,1:Short
DI-1
This signal serves as a forward rotation start signal for the incremental value command system. In automatic operation mode, the servo motor rotates in the forward rotation direction as soon as ST1-SG are shorted. In zeroing mode, zeroing starts as soon as ST1-SG are shorted. In jog operation mode, the servo motor rotates in the forward rotation direction while ST1-SG are shorted. Forward rotation denotes the direction in which the address is incremented.
Forward rotation start ST1 8
This signal serves as a start signal for the absolute value command system. In automatic operation mode, operation starts as soon as ST1-SG are shorted. In zeroing mode, zeroing starts as soon as ST1-SG are shorted. In jog operation mode, the servo motor rotates in the forward rotation direction while ST1-SG are shorted. Forward rotation denotes the direction in which the address is incremented.
DI-1
Reverse rotation start ST2 9 In automatic operation mode, the servo motor rotates in the reverse rotation direction as soon as ST2-SG are shorted. (Incremental value command only) In jog operation mode, the servo motor rotates in the reverse rotation direction while ST2-SG are shorted. Reverse rotation denotes the direction in which the address is decremented.
DI-1
-
12 BCN-B11127-479*
Signal Name Symbol Pin No. Description I/O Division
Automatic/manual selection
MDO 7 Short MDO-SG to choose the automatic operation mode, or open them to choose the manual operation mode.
DI-1
The following table lists the point table numbers which may be chosen by the combinations of DI0 and DI1:
DI1 DI0 Selected Point Table No.
0 0 Manual zeroing 0 1 Point table No.1 1 0 Point table No.2
1 1 Point table No.3
Point table No. selection DI0 DI1
5 14
Note: 0: DI1/DI0-SG open 1: DI1/DI0-SG shorted
DI-1
Rough match CPO 4 CPO-SG are connected when the remaining command distance falls within the parameter-set rough match output range. This signal is not output while the base circuit is off.
DO-1
In position INP 6 INP-SG are connected when the droop pulses fall within the parameter-set in-position range. This signal is not output while the base circuit is off.
DO-1
Trouble ALM 18 ALM-SG are disconnected when the protective circuit is activated to shut off the base circuit at power off. They are connected in normal condition at power off.
DO-1
Ready RD 19 RS-SG are connected when the servo amplifier is ready to operate without failure after servo-on.
DO-1
Override VC 2 10 to 10V is applied to across VC-LG to limit the servo motor speed. Apply 10[V] for 0[%] override, 0[V] for 100[%], or 10[V] for 200[%].
Analog input
External torque limit TLA 12 0 to 10V is applied to across TLA-LG to limit the servo motor-generated torque. Apply 0[V] for 0 torque or 10[V] for max. torque.
Analog input
Shield SD Plate Connect one end of the shielded cable.
3) CN3 Signal Name Symbol Pin No. Description I/O Division
Analog monitor 1 MO1 4 Used to output the data set in parameter No.17 to across MO1-LG in terms of voltage. Resolution 8 bits
Analog output
Analog monitor 2 MO2 14 Used to output the data set in parameter No.17 to across MO2-LG in terms of voltage. Resolution 8 bits
Analog output
SDP 9 SDN 19 RDP 5 RDN 15
RS-422 I/F
TRE 10
RS-422 communication terminal RS-422 and RS-232C functions cannot be used together. Short "15" and "10" at the last axis.
RXD 2 RS-232C I/F TXD 12
RS-232C communication terminal Use parameter No.16 for selection.
Monitor common LG 1, 3, 11, 13
Monitoring common for control common
Ground SD Plate Connect one end of the shielded cable.
-
13 BCN-B11127-479*
3.5 Additional function devices
By parameter setting, you can assign the signals given in this section to the pins of connectors CN1A and CN1B, in addition to the signals in Section 3.2. (1) Pins which accept different signals
Pin Type Connector Pin No. Device in Initial Status Device Symbol
CN1B-5 Point table No. selection 1 DI0 CN1B-14 Point table No. selection 2 DI1 CN1A-8 Proximity dog DOG CN1B-15 Servo on SON CN1B-16 Forward rotation stroke end LSP CN1B-17 Reverse rotation stroke end LSN CN1B-7 Automatic/manual selection MDO CN1B-8 Forward rotation start ST1
Input-only pins
CN1B-9 Reverse rotation start ST2 I/O pin CN1A-19 Empty
CN1B-4 Rough match CPO CN1B-6 In position INP CN1B-18 Trouble ALM CN1B-19 Ready RD
Output-only pins
CN1A-18 Zeroing completion ZP (2) Assignable devices
1) Input devices Device Name Symbol Description I/O Division
No assigned function No function is assigned. Emergency stop EMG When EMG-SG are opened, the servo amplifier is placed in the emergency
stop status, the servo switches off, and the dynamic brake is operated to bring the servo motor to a sudden stop. Short EMG-SG in the emergency stop status to cancel the emergency stop status.
DI-1
Alarm reset RES Short RES-SG to deactivate the alarm. If RES-SG are shorted in no alarm status, the base circuit is not shut off. Set 0 in parameter No. 55 to shut off the base circuit. Some alarms cannot be deactivated by the reset signal. Since this device is not designed for stopping, do not switch it on during operation.
DI-1
Point table No. selection DI2 DI3 DI4
Valid in the automatic mode. The following table lists the point table numbers that may be chosen by the combinations of DI0, DI1, DI2, DI3 and DI4:
DI4 DI3 DI2 DI1 DI0 Selected point table No. 0 0 0 0 0 Zeroing operation 0 0 0 0 1 Point table No.1 0 0 0 1 0 Point table No.2 0 0 0 1 1 Point table No.3 : : : : : : 1 1 1 0 1 Point table No.28 1 1 1 0 1 Point table No.29 1 1 1 1 0 Point table No.30 1 1 1 1 1 Point table No.31
Note:0: DI3/DI2/DI1/DI0-SG open 1: DI3/DI2/DI1/DI0-SG shorted
DI-1
External torque limit selection
TL0 Short TL0-SG to make external analog torque limit valid. DI-1
Internal torque limit selection
TL1 Open TL1-SG to make the torque limit value set in parameter No.28 (TL1) valid, or short them to make the value set in parameter No.29 (TL2) valid.
DI-1
-
14 BCN-B11127-479*
Device Name Symbol Description I/O Division
Proportion control PC Short PC-SG to switch the speed amplifier from proportional integral type to proportional type.
DI-1
Temporary stop/Restart STP Short STP-SG during automatic operation to make a temporary stop. Short STP-SG again to make a restart. Shorting the forward/reverse rotation start signal during a temporary stop is ignored. Switching from automatic mode to manual mode during a temporary stop clears the remaining moving distance. During zeroing and jog operation, the temporary stop/restart input is ignored.
DI-1
Gain changing CDP Gain changing device Short CDP-SG to switch the gain that changing condition depends on the setting in parameter No. 68
DI-1
2) Output devices Device Name Symbol Description I/O Division
No assigned function No function is assigned. Electromagnetic brake interlock
MBR Used to output the interlock signal for electromagnetic brake. MBR-SG are disconnected at servo-off or alarm occurrence.
DO-1
Dynamic brake interlock
DBR Dynamic brake interlock output device. DO-1
Position range POT POT-SG are connected when the actual current position is within the parameter-set range. The output is open when zeroing is incomplete or the base circuit is off.
DO-1
Warning WNG WNG-SG are connected when warning occurs. Open in normal condition.
DO-1
Battery warning BWNG BWNG-SG are connected when the open battery cable warning (A. 92) or battery warning (A. 9F) occurs. Open in normal condition.
DO-1
Limiting torque TLC TLC-SG are connected when the internally or externally set torque limit value is reached.
DO-1
Temporary stop PUS PUS-SG are connected when deceleration to a stop is started by the temporary stop signal. PUS-SG is disconnected when operation is resumed by making the temporary stop signal valid again.
DO-1
Moving completion MEND MEND-SG are connected when the in-position and rough match signal turned on DO-1
Point table No. output
PT0 PT1 PT2 PT3 PT4
The following table lists the point block numbers that may be chosen by the combinations of PT0, PT1, PT2,TP3 and PT4 after positioning complete:
PT4 PT3 PT2 PT1 PT0 Point block No.
0 0 0 0 0 0 0 0 0 1 Point block No.1 0 0 0 1 0 Point block No.2 0 0 0 1 1 Point block No.3 1 1 1 0 0 Point block No.28 1 1 1 0 1 Point block No.29 1 1 1 1 0 Point block No.30 1 1 1 1 1 Point block No.31
These signals will be turned off while Powered off, Servo off, In zeroing operation and after zeroing complete. It will be hold previous status if changed operation mode, in manual operation and in fast zeroing
DO-1
-
15 BCN-B11127-479*
(4) Device setting of control mode
Automatic operation Operation mode Signal Absolute command
Incremental command
Manual drive
Manual zeroing
Automatic/Manual MD0 ON ON OFF ON
Point block No. DI0 to
DI4 1 to 31 1 to 31 0
Forward rotation start ST1 ON (FWD. JOG)
Reverse rotation start ST2 ON (REV. JOG)
Note: The start signal will respond within 3 ms. Servo motor will be stopped and cleared moving remain distance when Automatic/Manual signal
changed in positioning.
5ms 5ms 5ms
5ms
-
16 BCN-B11127-479*
4. Interfaces
This section gives the details of the I/O signal interfaces. (1) Digital input interface DI-1
Give a signal with a relay or open collector transistor. Source input is also possible. Refer to (5) in this section.
For use of internal power supply For use of external power supply
24VDC
SON, etc.
SG
Switch
Servo amplifier
COM
VDD
R: Approx. 4.7k
Approx. 5mA
TR
VCES 1.0VICEO 100 A
(Note)For a transistor
24VDC200mA or more
SON, etc.
SG
Switch
Servo amplifier
COMR: Approx. 4.7k
VDD
Do not connectVDD-COM.
Note: This also applies to the use of the external power supply.
(2) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush current: 100mA or less) 1) Inductive load
For use of internal power supply For use of external power supply
ALM, etc.
24VDC VDD
COM
SG
Load
If the diode is not connected as shown, the servo amplifierwill be damaged.
Servo amplifier
ALM, etc.
27VDC orless
COM
SG
Load
Servo amplifier
VDD
If the diode is not connected as shown, the servo amplifierwill be damaged.
Do not connect VDD-COM.
-
17 BCN-B11127-479*
For use of internal power supply For use of external power supply
Servo amplifier
ALM, etc.
24VDC VDD
COMR
VDD
Servo amplifier
ALM, etc.
COM
SG
27VDC orless
R
Do not connectVDD-COM.
(3) Analog output
MO1(MO2)
LG
SD
A
Servo amplifier
Output 10V Max. 1mA
Reading in one orboth directions1mA meter
10k
(5) Source input interface
When using the input interface of source type, all DI-1 input signals are of source type. Source output cannot be provided.
For use of internal power supply For use of external power supply
24VDC
SON, etc.
SG
Switch
Servo amplifier
COM
VDD
R: Approx. 4.7k
Approx. 5mA
TR
(Note)For a transistor
VCES 1.0VICEO 100 A
24VDC200mA or more
SON, etc.
SG
Switch
Servo amplifier
COMR: Approx. 4.7k
Note: This also applies to the use of the external power supply.
-
18 BCN-B11127-479*
5. Automatic Operation Mode
5.1 Positioning via point table with digital input
(1) Parameter setting
Set the following parameters to perform automatic operation: (a) Command mode selection (parameter No.0)
Select the absolute value command system or incremental value command system. Parameter No. 0 Setting Positioning System
0 Absolute value command 1 Incremental value command
(b) Operation system selection (parameter No.1)
Choose the servo motor rotation direction at the time when the forward rotation start (ST1) signal or reverse rotation start (ST2) signal is switched on.
Parameter No. 1 Setting Servo Motor Rotation Direction
When Forward Rotation Start (ST1) Is Switched On
0 CCW rotation with position data CW rotation with position data
1 CW rotation with position data CCW rotation with position data
CCW
CW
-
19 BCN-B11127-479*
(c) Feed length multiplication selection (parameter No.1)
Set the unit multiplication factor (STM) of position data. The actual moving distance is the result of multiplying the entered position data by the unit multiplication factor.
Parameter No.1 Setting Feed Length Multiplication STM [Times]
0 Position data 1 1 Position data 10 2 Position data 100 3 Position data 1000
(2) Point table
(a) Point table setting Up to 31 point tables may be set. The following table lists what to set:
Name Setting Range Unit Description
Position data 999999 to 999999 [ 10SM m]
In the absolute value command system, motion is made to the set address. In the incremental value command system, motion is made over the set distance. Use the parameter to select the incremental value command or absolute value command. A negative value cannot be set to the incremental value command.
Motor speed 0 to permissible speed r/min Set the command speed of the servo motor for execution of positioning. The setting should be equal to or less than the instantaneous permissible speed of the servo motor.
Acceleration time constant 0 to 20000 ms
Set the acceleration time constant. Set the time until the rated speed of the servo motor is reached.
Deceleration time constant 0 to 20000 ms
Set the deceleration time constant. Set the time until the servo motor running at rated speed comes to a stop.
Dwell time 0 to 20000 ms
Set the dwell time. Set "0" in the auxiliary function to make the dwell time invalid. Set "1" in the auxiliary function and 0 in the dwell time to perform continuous operation. When the dwell time is set, the position command of the selected point table is completed, and after the set dwell time has elapsed, the position command of the next point table is started.
Auxiliary function 0 1
Set the auxiliary function. Set "1" to execute point tables consecutively without a stop. 0: Automatic operation is performed in accordance with a single point
table chosen. 1: Operation is performed in accordance with consecutive point tables
without a stop. When a different rotation direction is set, smoothing zero (command output) is confirmed and the rotation direction is then reversed. Setting "1" in point table No.15 results in an error.
For full information, refer to Section 4.2.5.
-
20 BCN-B11127-479*
(b) Descriptions of auxiliary function a) Auxiliary function setting 0 b) Auxiliary function setting 1 and dwell time is 0 c) Auxiliary function setting 1 and dwell time is not 0
Point block No. 1 Point block No. 2
Point block No.3
Servo motor speed
(ST1 or ST2) Start signal
Servo motor speed
Position block No. 1
Position block No.3
0
In position (INP) ON O FF
Rough match(CPO)
ON O FF
Start signal(ST1 or ST2)
ON O FF
Point block No.1
Position block No.2
Dwell time
Point block No.1
Dwell time
Point table No. 2 Point table No. 3
Servo motor speed
Point block selection No.1
Start signal(ST1 or ST2)
In position (INP)
Rough match(CPO)
-
21 BCN-B11127-479*
(3) Timing chart
Servo on (SON)
Ready (RD)
Trouble (ALM)
Automatic/manualselection (MDO)
In position (INP)
Rough match (CPO)
Motor speed
Forward rotation start(ST1)
Reverse rotation start(ST2)
Point table No. No.1 No.2
Point table No. 1
Point table No. 2
4ms or more
1.5ms or less
Note: Reverse rotation start (ST2) is invalid for absolute value command system.
ON
OFF ON
OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
Forward rotation
Reverse rotation
0r/min
(Note)
-
22 BCN-B11127-479*
5.2 Positioning operation in accordance with point tables
By selecting the point table No. and switching on the start signal (ST1, ST2) using the communication function, positioning operation in accordance with point tables can be started. (1) Selection of point tables
Using the device forced output from the controller (command [9][2], data No. [6][0]), choose point tables from among No.1 to 31
(2) Timing chart
Transmission data
Servo motor speed
1)
Point table No. 2
5ms
Point table No. 1 Point table No. 3
4) 5) 2) 4) 5) 3) 4) 5)
No. Transmission Data Command Data No.
1) Point table No.2 selection [9] [2] [6] [0] 2) Point table No.1 selection [9] [2] [6] [0] 3) Point table No.3 selection [9] [2] [6] [0] 4) Forward rotation start (ST1) ON [9] [2] [6] [0] 5) Forward rotation start (ST1) OFF [9] [2] [6] [0]
-
23 BCN-B11127-479*
5.3 Positioning operation via communication
Positioning operation can be performed by changing the point table settings and making a start. For example, positioning operation can be performed by writing the data of point table No.1, then specifying point table No.1, and making a start.
Transmission data
Servo motor speed
1) 2) 3) 4) 5) 6) 7)
Values set with transmission data 1) to 5) are used for operation.
5ms
8)
No. Transmission Data Command Data No.
1) Point table No.1 position data write [C] [0] [0] [1] 2) Point table No.1 speed [C] [6] [0] [1] 3) Point table No.1 acceleration time constant [C] [7] [0] [1] 4) Point table No.1 deceleration time constant [C] [8] [0] [1] 5) Point table No.1 auxiliary function [C] [B] [0] [1] 6) Point table No.1 selection [9] [2] [6] [0] 7) Forward rotation start (ST1) ON [9] [2] [6] [0] 8) Forward rotation start (ST1) OFF [9] [2] [6] [0]
-
24 BCN-B11127-479*
5.4 Manual operation mode
For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. 5.4.1 Jog operation
(1) Setting
Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No. selection 1 to 5 signals (DI0 to DI4) are invalid:
Item Setting Method Description
Manual operation mode selection Automatic/manual selection signal (MDO) Open MDO-SG (OFF). Servo motor rotation direction Parameter No.1 Refer to (2) in this section. Jog speed Parameter No.13 Set the speed of the servo motor.
Acceleration/deceleration time constant Point table No.1 Use the acceleration/deceleration time constants in point table No.1. (2) Servo motor rotation direction
Servo Motor Rotation Direction Parameter No. 1 Setting
Forward Rotation Start (ST1) ON Reverse Rotation Start (ST2) ON
0 CCW rotation CW rotation 1 CW rotation CCW rotation
ST1:ONCCW
CWST2:ON
ST2:ONCCW
CWST1:ON
Parameter No. 1 0 Parameter No. 1 1
-
25 BCN-B11127-479*
(3) Operation By shorting ST1-SG, operation is performed under the conditions of the jog speed set in the parameter and the acceleration and deceleration time constants in set point table No.1. For the rotation direction, refer to (2) in this section. By shorting ST2-SG, the servo motor rotates in the reverse direction to ST1.
(4) Timing chart
Servo on (SON)
Ready (RD)
Trouble (ALM)
Automatic/manual mode selection (MDO)
In position (INP)
Rough match (CPO)
100ms
Motor speed
Forward rotation start (ST1)
Reverse rotation start (ST2)
Forward rotation jog
Reverse rotation jog
ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF
Forward rotation
Reverse rotation
ON OFF ON OFF
0r/min
-
26 BCN-B11127-479*
5.5 Zeroing
5.5.1 Stopper type zeroing
In stopper type zeroing, a machine part is pressed against a stopper or the like by jog operation, manual pulse generator operation or the like to make a home position return and that position is defined as a home position. (1) Signals, parameters
Set the input signals and parameters as follows: Item Device/Parameter Used Description
Automatic/manual selection signal (MDO) Short MDO-SG (ON). Point table No. selection 1 (DI0) Open DI0-SG (OFF).
Manual zeroing mode selection
Point table No. selection 2 (DI1) Open DI1-SG (OFF). Stopper type zeroing Parameter No.8 3 : Stopper type zeroing is selected. Zeroing direction Parameter No.8 Refer to the parameter No.8 Zeroing speed Parameter No.9 Set the speed till contact with the stopper.
Zeroing position data Parameter No.42 Used to set the current position on completion of zeroing
Stopper time Parameter No.44 Time from when the part makes contact with the stopper to when zeroing data is obtained to output zeroing completion (ZP)
Stopper type zeroing torque limit Parameter No.45
Set the servo motor torque limit value for execution of stopper type zeroing.
Zeroing acceleration time constant Point table No.1
Use the acceleration time constant of point table No.1.
(2) Timing chart
In position (INP)
Rough match (CPO)
Zeroing completion (ZP)
Servo motor speed
Forward rotation start (ST1)
Reverse rotation start (ST2)
ONOFF
ONOFF
ONOFF
ONOFF
ONOFF
5ms or less
Zero addressParameter No. 42
ONOFF
Automatic/manual mode selection (MDO)
10ms or more
Limiting torque (TLC)
ONOFF
Torque limit value
Stopper
Parameter No. 28 Parameter No. 45 Parameter No. 28
Stopper timeParameter No. 44
Point table No.1Acceleration time constant
Zeroing speedParameter No.9
The address on completion of zeroing is the value automatically set in parameter No.42 (zeroing position data).
Parameter No.14 (STC) will be disabled during zeroing.
-
27 BCN-B11127-479*
6. Display and Operation
6.1 Display flowchart
Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. Press the "MODE" "UP" or "DOWN" button once to move to the next screen. To refer to or set the expansion parameters, make them valid with parameter No. 19 (parameter write disable).
Current position[pulse]
Command position [pulse]
Command remaining distance [pulse]
Regenerative load
Within one-revolution position low [pulse]
ABS counter [rev]
Load inertia moment Ratio [times]
Communication status
Sequence
External I/O signal display
Output signal forced output
Test operation Jog feed
Test operation Positioning operation
Test operation Motor-less operation
Current alarm
Last alarm
Second alarm in past
Third alarm in past
Fourth alarm in past
Fifth alarm in past
Sixth alarm in past
Parameter error No.
MODE button
DOWN
UP
Software version L
Software version H
Status display Diagnosis Alarm Expansionparameters 3
Parameter No. 50
Parameter No. 51
Parameter No. 89
Parameter No. 90
Instantaneous torque
Within one-revolution
Bus voltage [V]
Test operation Machine analyzer operation
Motor series ID
Motor type ID
Encoder ID
Cumulative feedback pules [pulse]
Motor speed [r/min]
Droop pulses [pulse]
Peak load ratio
ratio [%]
[%] Effective load ratio
[%]
[%]
position high [pulse]
Network I/F unit S/W version L
Network I/F unit S/W version H
Target position
Motor speed
Acc. time
Dwell time
Parameter No. 0
Parameter No. 1
Parameter No. 18
Parameter No. 19
Basic parameters
Point table No.1
Point table No.2
Point table No. 30
Point table No. 31
Point table
Dec. time
Auxiliary function
SET button
UP or DOWN button
-
28 BCN-B11127-479*
7. Parameters
For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. For details of the parameters, refer to the corresponding items. (1) Item list
Class No. Symbol Name and Function Initial Value Unit Customer
Setting
0 *STY Control mode, regenerative brake option selection 0010 1 *FTY Feeding function selection 0000 2 *OP1 Function selection 1 0002 3 AUT Auto tuning 0105 4 *CMX Electronic gear numerator 1 5 *CDV Electronic gear denominator 1 6 INP Movement completion output range 100 pulse 7 PG1 Position loop gain 1 36 rad/s 8 ZTY Zeroing type 0013 9 ZRF Zeroing speed 500 r/min 10 CRF Creep speed 10 r/min 11 ZST Zero shift distance 0 Um 12 CRP Rough match output range 0 10STM m 13 JOG JOG speed 100 r/min 14 *STC S-Curve acceleration/deceleration time constant 0 Ms 15 *SNO Station number setting 0 station 16 *BPS Alarm history clear 0000 17 MOD For manufacture setting 0100 18 *DMD Status display selection 0000
Basi
c par
amet
ers
19 *BLK Parameter block 0000
-
29 BCN-B11127-479*
Class No. Symbol Name and Function Initial Value Unit Customer
Setting
20 *OP2 Function selection 2 0000 21 *OP3 Function selection 3 0000 22 *OP4 Function selection 4 0000 23 *SIC Serial communications time-out selection 0 Sec 24 FFC Feed forward gain 0 % 25 VCO Override offset 0 mV 26 TLO Torque limit offset 0 mV 27 *ENR For manufacturer setting 4000 28 TL1 Internal torque limit 1 100 % 29 TL2 Internal torque limit 2 100 % 30 *BKC Backlash compensation 0 pulse 31 MO1 Analog monitor ch1 offset 0 mV 32 MO2 Analog monitor ch2 offset 0 mV 33 MBR Electromagnetic brake sequence output 100 ms 34 DG2 Ratio of load inertia moment to motor inertia moment 70 0.1 times 35 PG2 Position loop gain 2 35 rad/s 36 VG1 Speed loop gain 1 177 rad/s 37 VG2 Speed loop gain 2 817 rad/s 38 VIC Speed integral compensation 48 ms 39 VDC Speed differential compensation 980 40 OVA 0 41 DSS
For manufacture setting 0
42 *ZPS Zeroing position data 0 10STM m 43 DCT Moving distance after proximity dog 1000 10STM m 44 ZTM Stopper type zeroing stopper time 100 ms 45 ZTT Stopper type zeroing torque limit value 30 % 46 0 47
*LMP Software limit + 0
10STM m
48 0 49
*LMN Software limit - 0
10STM m
50 0 51
*LPP Position range output address + 0
10STM m
52 0
Expa
nsio
n pa
ram
eter
s
53 *LNP Position range output address -
0 10STM m
-
30 BCN-B11127-479*
Class No. Symbol Name and Function Initial Value Unit Customer
Setting
54 *OP5 Function selection 5 0000 55 *OP6 Function selection 6 0000 56 *OP7 Function selection 7 0000 57 *OP8 Function selection 8 0000 58 *OP9 Function selection 9 0000 59 *OPA Function selection A 0000 60 For manufacturing setting 0000 61 NH1 Machine resonance suppression filter 1 0000 62 NH2 Machine resonance suppression filter 2 0000 63 LPF Low-pass filter, adaptive vibration suppression control 0000 64 GD2B Ratio of load inertia moment to Servo motor inertia moment 2 70 0.1 time 65 PG2B Position control gain 2 changing ratio 100 % 66 VG2B Speed control gain 2 changing ratio 100 % 67 VICB Speed integral compensation changing ratio 100 % 68 *CDP Gain changing selection 0000 69 CDS Gain changing condition 10 70 CDT Gain changing time constant 1 71 VPI 0 ms 72 VLI 10000 pulse 73 ERZ 10 rev 74 ER2 10 rev 75 SRT 100 r/min 76 TRT 100 ms 77 DBT
For manufacturing setting
100 ms 78 *DI0 Input/Output device selection (CN1A-19) 0001 79 *DI1 Input device selection 1 (CN1A-19,8) 0009 80 *DI2 Input device selection 2 (CN1B-5,7) 080A 81 *DI3 Input device selection 3 (CN1B-8,9) 0706 82 *DI4 Input device selection 4 (CN1A-14,15) 020B 83 *DI5 Input device selection 5 (CN1B-16,17) 0504 84 *DI6 Input device selection 6 (Automatic ON) 0002 85 *DI7 Input device selection 7 (Automatic ON) 0000 86 *DO1 Output device selection 1 (CN1A-18,19) 0005 87 *DO2 Output device selection 2 (CN1B-4,6) 0304 88 *DO3 Output device selection 3 (CN1B-18,19) 0102 89 0
90 For manufacturing setting
0
-
31 BCN-B11127-479*
(2) Detail list
Class No Symbol
Name and function Initial Value Unit Setting Rnge
0 *STY Control mode, Regenerative brake option selection Use to select regenerative brake option.
0 0
0000 0000h to
0710h
1 *FTY Feeding system selection Used to set the feed length multiplication factor and External pulse multiplication factor.
0
0000 0000h to
1013h
Bas
ic p
aram
eter
s
2 *OP1 Function selection 1 Used to select the input filter and absolute position detection system. 0 0
0002 0000h to
1006h
Selection of regenerative brake option 0: Not used 1: Spare (do not set) 2: MR-RB032 3: MR-RB12 4: MR-RB32 5: MR-RB30 6: MR-RB50 7: Spare (do not set)
ST1 coordinate system selection 0: Address is incremented in CCW direction 1: Address is incremented in CW direction
Feed length multiplication factor (STM) 0: 1 time 1: 10 times 2: 100 times 3: 1000 times
SON-off, EMG-off follow-up for absolute value Command in incremental system 0: Invalid 1: Valid
Selection of command mode 0: Absolute value command 1: Incremental value command
Input filter If external input signal causes chattering due To noise, etc., input filter is used to suppress it. 0: None 1: 0.888msec 2: 1.777msec 3: 2.666msec 4: 3.555msec 5: 4.444msec 6: 5.333msec
Selection of absolute position detection system 0: Incremental system 1: Absolute position detection system
-
32 BCN-B11127-479*
Class No. Symbol Name and Function Initial Value Unit Setting Range
3 ATU Auto tuning Used to set the response level, etc. for execution of auto tuning.
0105 0001h to
042Fh
Basi
c par
amet
ers
4 *CMX Electronic gear numerator
Note: Set in the range of 20CDVCMX
201
.
If 100CDVCMX
1001
is exceeded, a parameter error will occur.
1 1 to 65535
Auto tuning response level setting
If the machine hunts or generates
large gear sound, decrease the
set value. To improve performance, e.g.
shorten the settling time, increase the set value.
Set value
Response level
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Low Response
Gain adjustment mode selection (For more information, refer to Section 7.1.1.)
Machine resonance Frequency guideline
Gain adjustment mode
0
Description
1
3 Simple manual adjustment.
4 Manual adjustment of all gains.
Interpolation mode Fixes position control gain 1 Auto tuning mode 1
Fixes the load inertia moment ratio set in parameter No. 34. Response level setting can be changed.
Manual mode 1 Manual mode 2
2 Auto tuning mode 2 Ordinary auto tuning.
0 0
High response
15Hz
20Hz
25Hz
30Hz
35Hz
45Hz
55Hz
70Hz
85Hz
105Hz
130Hz
160Hz
200Hz
240Hz
300Hz
Set Value
Ordinary auto tuning.
Middle response
-
33 BCN-B11127-479*
Class No. Symbol Name and Function Initial Value Unit Setting Range
5 *CDV Electronic gear denominator Setting example Roll diameter: 50mm Reduction ratio: 3/7 Number of pulses: 16384 pulses
1000735016384=)CDV(distanceMoving
)CMX(pulsesofNumber
=9375
7168
= 294527168
Hence, set 7168 to CMX and 29452 to CDV. Note: When there is a fraction, perform a carry within the setting
range and round off that fraction.
1 1 to 65535
6 INP Movement completion output rang Used to set the droop pulse range when the movement completion (INP) signal is output.
100 pulse 0 to 10000
7 PG1 Position loop gain 1 Used to set the gain of position loop 1. Increase the gain to improve tracking performance in response to the position command.
35 rad/s 4 to 2000
8 ZTY Zeroing type Used to set the zeroing system, zeroing direction and proximity dog input polarity.
0013 0000h to
0117h
9 ZRF Zeroing speed Used to set the motor speed for zeroing.
500 r/min 0 to
Max. speed 10 CRF Creep speed
Used to set the creep speed after proximity dog detection. 10 r/min 0
to Max. speed
Basi
c par
amet
ers
11 ZST Zero shift distance Used to set the shift distance starting at the Z-phase pulse detection position inside the encoder.
0 um 0 to
Max. speed
Zeroing direction0: Address increment direction 1: Address decrement direction Proximity dog input polarity 0: Dog is detected when DOG-SG are opened 1: Dog is detected when DOG-SG are shorted
0 3
-
34 BCN-B11127-479*
Class No. Symbol Name and Function Initial Value Unit Setting Range
12 CRP Rough match output range Used to set the command remaining distance range where the rough match (CPO) signal is output.
0 10STMm
0 to
65535
13 JOG Jog speed Used to set the jog speed command.
100 r/min 0 to
Max. speed 14 *STC S-pattern acceleration/deceleration time constant
Set when inserting an S-pattern time constant into the acceleration/deceleration time constant of the point table. This time constant is invalid for zeroing.
0 ms 0 to
100
15 *SNO RS-485 station number setting Used to specify the station number for RS-485 multidrop communication. Always set one station to one axis of servo amplifier. If one station number is set to two or more stations, normal communication cannot be made.
0 station 0 to 31
16 *BPS Alarm history clear Used to alarm history clear.
0000 0000h to
1214h
17 MOD For manufacturer setting
0 0
0100 0000h to
4B4Bh
RS-422/RS-232C baudrate selection 0: 9600 [bps] 1: 19200 [bps] 2: 38400 [bps] 3: 57600 [bps] 4: 4800 [bps] (for MR-DP60)
Alarm history clear 0: Invalid (not cleared) 1: Valid (cleared) When alarm history clear is made valid, the Alarm history is cleared at next power-on. After the alarm history is cleared, the setting
is automatically made invalid (reset to 0)
Serial communication I/F selection 0: RS-232C 1: RS-422
Communication response delay time 0: Invalid, reply sent in less than 400us 1: Valid, reply sent in 888us or more
Setting Analog Monitor Output Selection Ch2 Ch1 0 Servo motor sped (+/- 8V/max. speed) 1 Generated torque (+/- 8V/max. torque) 2 Motor speed (+8V/max. torque) 3 Generated torque (+8V/max. torque) 4 Current command (+/- 8V/max. current command) 5 Speed command (+/- 8V/max. speed) 6 Droop pulses (+/-10V/128 pulses) 7 Droop pulses (+/- 10V/2048 pulses) 8 Droop pulses (+/- 10V/8192 pulses) 9 Droop pulses (+/- 10V/32768 pulses) A Droop pulses (+/- 10V/131072 pulses) B Bus voltage (+8V / 400V)
-
35 BCN-B11127-479*
Class No. Symbol Name and Function Initial Value Unit Setting Range
18 *DMD Status display selection Used to select the status display shown at power-on .
0000 0000h to
1F1Fh
Basi
c par
amet
ers
19 *BLK Parameter block Used to select the reference and write ranges of the parameters.
Parameter No.
Set Value Operation #00 to
#18 #19
#20 to
#53
#54 to
#90
Reference { { 0000 (Initial value) Write { {
Reference { 000A
Write { Reference { { {
000B Write { {
Reference { { { 000C
Write { { { Reference { { { {
000E Write { { { {
0000 0000h to
FFFFh
Status display shown at power-on 00: Current position 01: Command position 02: Command remaining distance 03: Point table No. 04: Cumulative feedback pulses 05: Motor speed 06: Droop pulses 07: Override voltage 08: Limiting torque voltage 09: Regenerative load ratio 0A: Effective load ratio 0B: Peak load ratio 0C: Instantaneous torque 0D: Within one-revolution position (low) 0E: Within one-revolution position (high) 0F: ABS counter 10: Load inertia moment ratio 11: Bus voltage
0 0
-
36 BCN-B11127-479*
Class No. Symbol Name and Function Initial Value Unit Setting Range
20 *OP2 Function selection 2 Used to select slight vibration suppression control.
0000 0000h to
1111h
21 *OP3 For manufacturer setting 0002
22 *OP4 Function selection 4
0000 0000h to
0001h
23 *SIC Serial communication time-out selection Used to choose the time-out period of communication protocol 0 means not time-out check.
0 s 0 to 60
24 FFC Feed forward gain Used to set the feed forward gain. When it is set to 100%, droop pulses will not be generated in constant speed operation. Note that sudden acceleration/deceleration will increase overshoot.
0 % 0 to 100
25 VCO Override offset Used to set the offset voltage to analog override.
0 mV -999 to
999
26 TL0 Torque limit offset Used to set the offset voltage to analog torque limit.
0 mV -999 to
999
Expa
nsio
n pa
ram
eter
s
27 *ENR Encoder output pulses Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. You can use parameter No. 58 to choose the output pulse setting or output division ratio setting. The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 1.3Mpps (after multiplication by 4). Use this parameter within this range.
4000 pulse 1 to
65535
H/W limit stop selection 0: Sudden stop 1: Slow stop
0 0 0
0
Slight vibration suppression control selection 0: Invalid 1: Valid Parameter No.2 must be 03 or 04 for activate this function.
0 0
-
37 BCN-B11127-479*
Class No. Symbol Name and Function Initial Value Unit Setting Range
28 TL1 Internal torque limit 1 Used to limit servo motor-generated torque on the assumption that the maximum torque is 100%. When 0 is set, torque is not produced. This setting value will be 8V for torque monitor in monitor output.
100 % 0 to 100
29 TL2 Internal torque limit 2 Used to limit servo motor-generated torque on the assumption that the maximum torque is 100%. When 0 is set, torque is not produced. Made valid by switching on the internal torque limit selection signal.
100 % 0 to 100
30 *BKC Backlash compensation Used to set the backlash compensation made when the command direction is reversed. This function compensates for the number of backlash pulses in the opposite direction to the zeroing direction. In the absolute position detection system, this function compensates for the backlash pulse count in the direction opposite to the operating direction at power-on.
0 pulse 0 to 1000
31 MO1 Analog monitor ch1 offset Used to set the offset voltage of the analog monitor ch1 output (MO1).
0 mV -999 to 999
32 MO2 Analog monitor ch2 offset Used to set the offset voltage of the analog monitor ch2 output (MO2)
0 mV -999 to 999
33 MBR Electromagnetic brake sequence output Used to set the delay time between when the electromagnetic brake interlock signal (MBR) switches off and when the base circuit is shut off.
100 ms 0 to 1000
34 GD2 Ratio of load inertia moment to motor inertia moment: Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning is selected, the result of auto tuning is automatically set.
70 0.1 times
0 to 3000
35 PG2 Position loop gain 2 Used to set the gain of the position loop. Set this parameter to increase the position response level to load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning is selected, the result of auto tuning is automatically set.
35 rad/s 1 to 1000
36 VG1 Speed loop gain 1 Normally this parameter setting need not be changed. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning is selected, the result of auto tuning is automatically set.
177 rad/s 20 to 8000
37 VG2 Speed loop gain 2 Set this parameter when vibration occurs on machines of low rigidity or large backlash. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning is selected, the result of auto tuning is automatically set.
817 rad/s 20 to 20000
38 VIC Speed integral compensation Used to set the integral time constant of the speed loop. When auto tuning is selected, the result of auto tuning is automatically set.
48 ms 1 to 1000
39 VDC Speed differential compensation Used to set the differential compensation. Made valid when the proportion control signal is switched on.
980 0 to 1000
-
38 BCN-B11127-479*
Class No. Symbol Name and Function Initial Value Unit Setting Range
40 OVA 0 41
For manufacturing setting 0
42 *ZPS Zeroing position data Used to set the current position on completion of zeroing.
0 10STM m
32768 to
32767 43 DCT Moving distance after proximity dog
Used to set the moving distance after proximity dog in count type zeroing. 1000 10S
TM m 0 to 65535
44 ZTM Stopper type zeroing stopper time In stopper type zeroing, used to set the time from when the machine part is pressed against the stopper and the torque limit set in parameter No.45(ZTT) is reached to when the home position is set.
100 ms 5 to 1000
45 ZTT Stopper type zeroing torque limit Used to set the torque limit value relative to the max. torque in [%] in stopper type zeroing.
15 % 1 to 100
46 47
LMP Software limit Used to set the address increment side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ". Set the same sign to parameters No.46 and 47. Setting of different signs will result in a parameter error.
Set address:Upper 3 digits
Lower 3 digits
Parameter No. 47
Parameter No. 46
0 10STM m
999999 to
999999
48 49
LMN Software limit Used to set the address decrement side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ". Set the same sign to parameters No.48 and 49. Setting of different signs will result in a parameter error.
Set address: Upper 3 digits
Lower 3 digits
Parameter No. 49
Parameter No. 48
0 10STM m
999999 to
999999
50 51
LPP Position range output address Used to set the address increment side position range output address. Set the same sign to parameters No.50 and 51. Setting of different signs will result in a parameter error.
Set address:Upper 3 digits
Lower 3 digits
Parameter No. 51
Parameter No. 50
0 10STM m
999999 to
999999
-
39 BCN-B11127-479*
Class No. Symbol Name and Function Initial
Value Unit Setting Range
52 53
LNP Position range output address Used to set the address decrement side position range output address. Set the same sign to parameters No.52 and 53. Setting of different signs will result in a parameter error.
Set address:Upper 3 digits
Lower 3 digits
Parameter No. 53Parameter No. 52
0 10STMm
999999 to
999999
54 *OP5 For manufacturer setting 0000 55 *OP6 Optional function 6
Servo on response in alarm reset operation. Used to select the operation to be performed when the alarm reset signal switches on.
0000 0000h to
1111h
56 *OP7 Optional function 7 Used to select the current position display mode.
Item Display of positioning Display of role feeding
Current position
Display actual position from machine home position
Display actual position from power on
Aut
omat
ic
oper
atio
n m
ode
Commanded
position
Display commanded position from machine home position
Display target position in stop motion. Count start from 0 at start signal turned on. And display commanded position till target position
Current position
Display commanded position from machine home position
Display target position in stop motion. Count start from 0 at start signal turned on. And display commanded position till target position
Man
ual o
pera
tion
Commanded
position
Display commanded position from machine home position
Display target position in stop motion. And display selected position data at start signal turned on.
0000 0000h to
1111h
0 0 0
Operation to be performed when the alarm reset signal switches on
0: Base circuit not switched off 1: Base circuit switched off
0 0
Electric gear cal. error clear selection 0: Invalid 1: Valid
Current position / Commanded position display selection 0: Display of positioning 1: Display of role feeding
-
40 BCN-B11127-479*
Class No. Symbol Name and Function Initial
Value Unit Setting Range
57 *OP8 Function selection 8 Used to select the protocol of serial communication.
0000
0000h
to
1112h
58 *OP9 Function selection 9 Use to select the command pulse rotation direction, encoder output pulse direction and encoder pulse output setting.
0000
0000h
to
1101h
59 *OPA Function selection A Alarm code output function selection
0000
0000h
to
0211h
Expa
nsio
n pa
ram
eter
s
60 For manufacture setting 0000
0 00Alarm code output 0: Invalid 1: Valid
0 0
Protocol checksum selection 0: Yes (checksum added) 1: No (checksum not added)
Protocol checksum selection 0: With station numbers 1: No station numbers
0
0 1
CCW CW
CW C C W
Servo motor rotation direction changing
Changes the servo motor rotationdirection for the input pulse train.
Set value Servo motor rotation direction
At forward rotation pulse input (Note)
At reverse rotation pulse input (Note)
Encoder pulse output phase changing
Changes the phases of A, B-phase encoder pulses output .
Encoder output pulse setting selection (refer to parameter No. 27) 0: Output pulse setting1: Division ratio setting
Servo motor rotation direction Set value
CCW CW
0
1
A phase B phase
A phase B phase
A phase B phase
A phase B phase
-
41 BCN-B11127-479*
Class No. Symbol Name and function
Initial
value Unit Setting range
61 NH1 Machine resonance suppression filter 1 Used to selection the machine resonance suppression filter.
0000
.0000h to
031Fh
62 NH2 Machine resonance suppression filter 2 Used to set the machine resonance suppression filter.
0000
0000h to
031Fh
2 3
0
0 1
40 d B 14 d B 8 d B 4 d B
Notch frequency selection
00 01 02 03 04 05 06 07
Setting value
Frequency
Invalid 4500 2250 1500 1125
900 750 642.9
08 09 0A 0B 0C 0D 0E 0F
562.5 500 450 409.1 375 346.2 321.4 300
Frequency
10 11 12 13 14 15 16 17
281.3 264.7 250 236.8 225 214.3 204.5 195.7
Frequency
18 19 1A 1B 1C 1D 1E 1F
187.5 180 173.1 166.7 160.1 155.2 150 145.2
Frequency
Notch depth selection Setting value
Depth Gain
Deep
Shallow to
Setting
value
Setting
value
Setting
value
0
Notch frequency Same setting as in parameter No. 61 However, you need not set "00" if you have set adaptive vibration suppression control to be "valid" or "held".
Notch depthSame setting as in parameter No. 61
-
42 BCN-B11127-479*
Class No. Symbol Name and function
Initial
value Unit Setting range
63 LPF Low-pass filter/adaptive vibration suppression control Used to selection the low-pass filter and adaptive vibration suppression control.
0000
0000h to
1217h
64 GD2B Ratio of load inertia moment to servo motor inertia moment 2 Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid.
70 0.1 times
0 to
3000
65 PG2B Position control gain 2 changing ratio Used to set the ratio of changing the position control gain 2 when gain changing is valid. Made valid when auto tuning is invalid.
100 % 10 to
200
66 VG2B Speed control gain 2 changing ratio Used to set the ratio of changing the speed control gain 2 when gain changing is valid. Made valid when auto tuning is invalid.
100 % 10 to
200
67 VICB Speed integral compensation changing ratio Used to set the ratio of changing the speed integral compensation when gain changing is valid. Made valid when auto tuning is invalid.
100 % 50 to
1000
68 *CDP Gain changing selection Used to select the gain changing condition.
0000 0000h to
0004h
0 Low-pass filter selection
0: Valid (Automatic adjustment) 1: Invalid When you choose "valid",
2 (1 GD2 setting 0.1) VG2 setting 10
bandwidth filter is set automatically. Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance control filter 1 (parameter No. 58) invalid. 0: Invalid 1: Valid Machine resonance frequency is always detected and the filter is generated in response to resonance to suppress machine vibration. 2: Held The characteristics of the filter generated so far are held, and detection of machine resonance is stopped.
Adaptive vibration suppression control sensitivity selection Used to set the sensitivity of machine resonance detection.
0: Normal 1: Large sensitivity
[H z ]
00 0
Gain changing selection Gains are changed in accordance with the settings of parameters No. 64 to 67 under any of the following conditions: 0: Invalid1: Gain changing (CDP) signal is ON2: Command frequency is equal to higher than parameter No. 69 setting3: Droop pulse value is equal to higher than parameter No. 69 setting4: Servo motor speed is equal to higher than parameter No. 69 setting
-
43 BCN-B11127-479*
Class No. Symbol Name and function
Initial
value Unit Setting range
69 CDS Gain changing condition Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No. 68.The set value unit changes with the changing condition item.
10 kpps pulse r/min
0 to
9999
70 CDT Gain changing time constant Used to set the time constant at which the gains will change in response to the conditions set in parameters No. 68 and 69.
1 ms 0 to
100 71 VPI 100
72 VLI 10000
73 ERZ 10
74 ER2 10
75 SRT 100
76 TRT 100
77 DBT
For manufacture setting
100
78 *DI0 Input / Output device selection Used to select the CN1A-19 pin to output or input device
0000 0000h to
0001h
79 *DI1 Input device selection 1 Used to select the function of CN1A-8 pin and CN1A-19 pin
Setting Input function Setting Input function
00 No function 17 Gain changing selection 01 Forced stop 18 02 Servo on 19 03 Alarm reset 1A 04 FWD stroke limit 1B 05 REV stroke limit 1C 06 FWD rotation start 1D 07 REV rotation start 1E 08 Auto. / Manu. 1F 09 20 0A Point table # selection 1 21 0B Point table # selection 2 22 0C Point table # selection 3 23 0D Point table # selection 4 34 0E 25 0F External torque limit 26 10 Internal torque limit 27 11 Proportional control 28 12 Temp. stop / Restart 29 13 2A 14 2B 15 Point table # selection 5 2C 16 2D
0009 0000h to
1F1Fh
00 0
CN1A-19 pin 0: Output device 1: Input device
Set to the function of CN1A-19 pin
Set to the function of CN1A-8 pin
-
44 BCN-B11127-479*
Class No. Symbol Name and Function Initial
Value Unit Setting Range
80 *DI2 Input device selection 2 Used to select the function of CN1B-5 pin and CN1B-7 pin
080A
0000h
to
1F1Fh
81 *DI3 Input device selection 3 Used to select the function of CN1B-8 pin and CN1B-9 pin
0706
0000h
to
1F1Fh
82 *DI4 Input device selection 4 Used to select the function of CN1B-14 pin and CN1B-15 pin
020B
0000h
to
1F1Fh
83 *DI5 Input device selection 5 Used to select the function of CN1B-16 pin and CN1B-17 pin
0504 0000h to
1F1F
Set to the function of CN1B-7 pin
Set to the function of CN1B-5 pin
Set to the function of CN1B-9 pin
Set to the function of CN1B-8 pin
Set to the function of CN1B-15 pin
Set to the function of CN1B-14 pin
Set to the function of CN1B-17 pin
Set to the function of CN1B-16 pin
-
45 BCN-B11127-479*
Class No. Symbol Name and Function Initial Value Unit Setting Range
84 *DI6 Input device selection 6 Used to set automatically ON of function device
0002 0000h to
FFFFh
85 *DI7 Input device selection 7 Used to set automatically ON of function device
0000 0000h to
FFFFh
Forced stop
Servo on
Reverse stroke limit
Forward stroke limit
Automatic / Manual selection
Point table No. selection 1
Point table No. selection 2
Point table No. selection 3
Point table No. selection 4
External torque limit selection
Proportional control
-
46 BCN-B11127-479*
Class No. Symbol Name and Function Initial Value Unit Setting Range
86 *DO1 Output device selection 1 Used to select the function of CN1A-18 pin and CN1A-19 pin
Setting Input function Setting Input function
00 No function 15 01 Ready 16 02 Trouble 17 03 In position 18 04 Rough mach 19 05 Zeroing complete 1A 06 Electro magnetic brake 1B 07 Dynamic brake interlock 1C 08 Position range output 1D 09 Warning output 1E 0A Battery warning 1F 0B In torque limit 20 0C In temporally stop 21 0D Moving complete 22 0E Point table # output 1 23 0F Point table # output 2 24 10 Point table # output 3 25 11 Point table # output 4 26 12 Point table # output 5 27 13 28 14 29
0005 0000h to
1F1Fh
87 *DO2 Output device selection 2 Used to select the function of CN1B-6 pin and CN1B-4 pin
0304 0000h to
0F0Fh
88 *DO3 Output device selection 3 Used to select the function of CN1B-18 pin and CN1B-19 pin
0102 0000h to
0F0Fh
89 0
90
For manufacture setting
0
Set to the function of CN1A-19 pin
Set to the function of CN1A-18 pin
Set to the function of CN1B-6 pin
Set to the function of CN1B-4 pin
Set to the function of CN1B-19 pin
Set to the function of CN1B-18 pin
-
47
8. Communication Functions
The MR-J2S-A-S061 has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS-422 and RS-232C with parameter No.16. 8.1 Configuration
8.1.1 RS-422 configuration
(1) Outline
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
CHARGE
MITSUBISHI
CHARGE
MITSUBISHI
CHARGE
MITSUBISHI
RS-422
Controller such aspersonal computer
RS-232C/RS-422 converter
Servo amplifier Servo amplifier
ToCN3
Axis 1 (Station 0) Axis 2 (Station 1) Axis 32 (Station 31)
Unavailable as option.To be prepared by customer.
Servo amplifier
ToCN3
ToCN3
(2) Cable connection diagram
Wire as shown below:
RDP
RDN
SDP
SDN
GND
GND
5
15
9
19
11
1
10
RDP
RDN
SDP
SDN
LG
LG
TRE
SD
5
15
9
19
11
1
10
RDP
RDN
SDP
SDN
LG
LG
TRE
SD
5
15
9
19
11
1
10
RDP
RDN
SDP
SDN
LG
LG
TRE
SD
(Note 3) 30m(1181.10inch) max.
Plate
(Note 1)Axis 2 servo amplifierCN3 connector
Plate Plate
(Note 2)
RS-422output unit
(Note 1)Axis 1 servo amplifierCN3 connector
(Note 1)Axis 32 (last axis)servo amplifierCN3 connector
Note: 1. 3M's CN3 connector
Connector: 10120-3000VE Shell kit: 10320-52F0-008
2. In the last axis, connect TRE and RDN. 3. 30m(1181.10inch) max. in environment of little noise.
-
48
8.1.2 RS-232C configuration
(1) Outline
A single axis of servo amplifier is operated.
(2) Cable connection diagram
Wire as shown below. The communication cable for connection with the personal computer (MR-CPCATCBL3M) is available.
12
11
2
1
TXD
GND
RXD
GND
FG
Personal computerconnector D-SUB25 (socket)
(Note 4)
(Note 3) 15m(590.55inch) max.(Note 1)
Servo amplifierCN3 connector
Plate
D-SUB29 (socket) for PC-98compatible controller
TXD
RXD
GND
RTS
CTS
DSR
DTR
3
2
5
7
8
6
4
TXD
GND
RXD
GND
CN3 connector 2
CN3 connector 1
CN3 connector 12
CN3 connector 11
SD
RD
SG
RS
CS
2
3
7
4
5
(Note 2)
Note: 1. 3M's CN3 connector Connector: 1020-3000VE Shell kit: 10320-52F0-008
2. For the PC-98 series. The PC-98 series also has the half-pitch type. 3. 15m (590.55inch) max. in environment of little noise. 4. For the PC-AT compatible.
CHARGE
MITSUBISHI
RS-232C Controller such aspersonal computer
MR-J2S-A-S061
To CN3
Servo amplifier
-
49
8.2 Communication specifications
The MELSERVO-J2S series is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (e.g. MR-J2S-A-S061 servo amplifier) is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data.
Item Description
Baudrate 9.6k/19.2k/38.4k/57.6k asynchronous system
Transfer code
Start bit : 1 bit Data bit : 8 bits Parity bit : 1 bit (even) Stop bit : 1 bit
Transfer protocol Character system, half-duplex communication system (LSB) (MSB)
0 1 2 3 4 5 76Start Parity StopNextstart
1 frame (11 bits)
Data
8.2.1 Parameter setting
When the RS-422/RS-232C communication function is used to operate the servo, choose the communica-tion specifications with parameter No.16. (1) Communication baudrate
Choose the communication speed. Match this value to the communication speed of the sending end (master station).
(2) Checksum
The checksum added to data can be deleted. When the checksum is not needed for the communication specifications of the master station, delete the checksum at parameter No.57
-
50
(3) RS-422/RS-232C serial interface selection
Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together.
RS-422/RS-232C communication standard selection0: RS-422 used1: RS-232C used
Parameter No. 16
(4) Communication delay time
Set the time from when the servo amplifier (slave station) receives communication data to when it sends back data. Set "0" to send back data in less than 888 s or "1" to send back data in 888 s or more.
(5) Serial communication time-out
No communication for a given period of time between the master and slave stations may be judged as a communication cable or master station fault to stop the servo motor.
Setting Description
0 No time-out check
1 to 60 Time-out check period setting Check period setting (S)
8.3 Protocol
Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station number to each servo amplifier using the parameter and set the group to each station using the communication command. Transmission data is valid for the servo amplifier of the specified station number or group. When " " is set as the station number added to the transmission data, the transmission data is made valid for all servo amplifiers connected. However, when return data is required from the servo amplifier in response to the transmission data, set "0" to the station number of the servo amplifier which must provide the return data. (1) Transmission of data from the controller to the servo
SOH
STX
ETX
STX
ETX
DataNo.
DataChecksum
10 frames (data)
Station numberor
group
Err
or c
ode
Checksum
6 framesPositive response: Error code ANegative response: Error code other than A
Servo side(Slave station)
Controller side(Master station)
Com
man
d
Station numberor
group
Communication delay time 0: Invalid, reply sent in less than 888 s 1: Valid, reply sent in 888 s or more
Parameter No. 16
-
51
(2) Transmission of data request from the controller to the servo
SOH
STX
ETX
STX
ETX
Controller side
Servo side
10 frames
Com
man
d
DataNo.
Checksum
Err
or c
ode
DataChecksum
6 frames (data)
Station numberor
group
Station numberor
group
(3) Recovery of communication status by time-out
EOT
or
Controller side
Servo side
EOT causes the servo to return tothe receive neutral status.
Data
4 frames
Data
8 frames
or 12 frames or 16 frames
Data: Choose the data length from among 4, 8, 12 and 16 frames (data length depends on the command).
-
52
8.4 Character codes
(1) Control codes
Code Name Hexadecimal (ASCII code)
Description Personal Computer Terminal Key Operation
(General)
SOH STX ETX EOT
01H 02H 03H 04H
start of head start of text end of text
end of transmission
ctrl A ctrl B ctrl C ctrl D
(2) Codes for data
JIS8 unit codes are used. b8 0 0 0 0 0 0 0 0 b7 0 0 0 0 1 1 1 1 b6 0 0 1 1 0 0 1 1 b5 0 1 0 1 0 1 0 1
b8 to b5
b4 b3 b2 b1 C
R 0 1 2 3 4 5 6 7
0 0 0 0 0 NUL DLE Space 0 @ P ` p 0 0 0 1 1 SOH DC1 ! 1 A Q a q 0 0 1 0 2 STX DC2 " 2 B R b r 0 0 1 1 3 ETX DC3 # 3 C S c s 0 1 0 0 4 $ 4 D T d t 0 1 0 1 5 % 5 E U e u 0 1 1 0 6 & 6 F V f v 0 1 1 1 7 ' 7 G W g w 1 0 0 0 8 ( 8 H X h x 1 0 0 1 9 ) 9 I Y i y 1 0 1 0 10 : J Z j z 1 0 1 1 11 ; K [ k { 1 1 0 0 12 , L l | 1 1 0 1 13 - M ] m } 1 1 1 0 14 . N ^ n 1 1 1 1
15 / ? O _ o DEL (3) Station numbers
You may set 32 station numbers from station 0 to station 31 and the JIS8 unit codes are used to specify the stations.
Station number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 JIS8 code 0 1 2 3 4 5 6 7 8 9 A B C D E F
Station number 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 JIS8 code G H I J K L M N O P Q R S T U V
For example, "30H" is transmitted in hexadecimal when the station number is "0" (first axis). (4) Group
Group a b c d e f All group JIS8 code a b c d e f
For example, "61H" is transmitted in hexadecimal for group a.
-
53
8.5 Error codes
Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station. The code transmitted in uppercase indicates that the servo is normal and the one in lowercase indicates that an alarm has occurred.
Error Code
Servo normal Servo alarm Error Name Description Remarks
[A] [a] Normal operation Data transmitted was processed properly. Positive response [B] [b] Parity error Parity error occurred in the transmitted data. [C] [c] Checksum error Checksum error occurred in the transmitted data.
[D] [d] Character error Character not existing in the specifications was transmitted.
[E] [e] Command error Command not existing in the specifications was transmitted.
[F] [f] Data No. error Data No. not existing in the specifications was transmitted.
Negative response
8.6 Checksum
Checksum range
Check
Checksum range
ETXSTX orSOH
Station numberor
group
The checksum is sent as a JIS8-coded hexadecimal code representing the lower two digits of the sum of JIS8-coded hexadecimal values up to ETX, with the exception of the first control code (STX or SOH).
STX
02H
[0]
30H
[A]
41H
[1]
31H
[2]
32H
[5]
35H
[F]
46H
ETX
[5] [2]
03H
30H 41H 31H 32H 35H 46H 03H 152H
Lower 2 digits 52 is sent after conversion into ASCII code [5][2].
-
54
8.7 Time-out operation
The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times. (Communication error)
EOT
300ms100ms
EOT
300ms100ms
EOT
300ms100ms
300ms
Mes
sage
Mes
sage
Mes
sage
Mes
sage
Time-out
Controller(Master station)
Servo(Slave station)
8.8 Retry operation
When a fault occurs in communication between the master and slave stations, the error code in the response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the master station retransmits the message which was sent at the occurrence of the fault (Retry operation). A communication error occurs if the above operation is repeated and results in the error three or more consecutive times.
Mes
sage
Mes
sage
Mes
sage
Communication error
Controller(Master station)
Servo(Slave station)
STX
STX
STX
Station numberor
group
Station numberor
group
Station numberor
group
Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the slave station, the master station retransmits the message which was sent at the occurrence of the fault. A communication error occurs if the retry operation is performed three times.
-
55
8.9 Initialization
After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after: 1) 1s or more time has elapsed after the slave station is switched on; and 2) Making sure that normal communication can be made by reading the parameter or other data which
does not pose any safety problems. 8.10 Communication procedure example
The following example reads the set value of parameter No.2 "function selection 1" from the servo amplifier of station 0:
Data Item Value Description
Station number 0 Servo amplifier station 0 Command 05 Read command Data No. 02 Parameter No.2
Checksum 30H 30H 35H 02H 30H 32H 03H FCH
0 2STX ETX50
Yes
NoYes
No
No
No
Yes
Yes
Yes
No
[0][0][5] [0][2]
[0]
Axis No. Command Data No.
Data
Procedure
Data make-up
Checksum calculation andaddition
Addition of SOH to makeup transmission data
Data transmission
Data receive
Is there receive data?
3 consecutive times?
Error processing
Other than error code[A] [a]?
Receive data analysis
End
300ms elapsed?
3 consecutive times?
Error processing
100ms after EOT transmission
Master station slave station
Master station slave station
Master station slave station
STX ETX
46H 43HSOH F CTransmission data 50 STX 0 2 ETX
-
56
8.11 Command and data No. list
8.11.1 Read commands
(1) Status display (Command [0][1])
Command Data No. Description Display Item Frame Length
[0][1] [8][0] Current position 12 [0][1] [8][1] Command position 12 [0][1] [8][2] Command remaining distance 12 [0][1] [8][3] Point table N